[wpimath] Replace Speeds with Velocities (#8479)

I left "free speed" alone since that's the technical term for it. In
general, velocity is a vector quantity, and speed is a magnitude (i.e.,
a strictly positive value).

This PR also replaces the speed verbiage in MotorController with duty
cycle.

Fixes #8423.

wpilibc/src/main/python/semiwrap/DifferentialDrive.yml

@@ -103,7 +103,7 @@ classes:
       * :meth:`curvatureDrive` is similar in concept to
         ``RobotDrive.drive`` with the addition of a quick turn
         mode. However, it is not designed to give exactly the same response.
-  wpi::DifferentialDrive::WheelSpeeds:
+  wpi::DifferentialDrive::WheelVelocities:
     attributes:
       left:
       right:

wpilibc/src/main/python/semiwrap/ExpansionHubMotor.yml

@@ -2,7 +2,7 @@ classes:
   wpi::ExpansionHubMotor:
     methods:
       ExpansionHubMotor:
-      SetPercentagePower:
+      SetDutyCycle:
       SetVoltage:
       SetPositionSetpoint:
       SetVelocitySetpoint:

wpilibc/src/main/python/semiwrap/LEDPattern.yml

@@ -12,8 +12,8 @@ classes:
           std::span<wpi::AddressableLED::LEDData>, std::function<void (int, wpi::util::Color)> [const]:
       Reversed:
       OffsetBy:
-      ScrollAtRelativeSpeed:
-      ScrollAtAbsoluteSpeed:
+      ScrollAtRelativeVelocity:
+      ScrollAtAbsoluteVelocity:
       Blink:
         overloads:
           wpi::units::second_t, wpi::units::second_t:

wpilibc/src/main/python/semiwrap/MecanumDrive.yml

@@ -30,7 +30,7 @@ classes:
       StopMotor:
       GetDescription:
       InitSendable:
-  wpi::MecanumDrive::WheelSpeeds:
+  wpi::MecanumDrive::WheelVelocities:
     attributes:
       frontLeft:
       frontRight:

wpilibc/src/main/python/semiwrap/MotorController.yml

@@ -1,9 +1,9 @@
 classes:
   wpi::MotorController:
     methods:
-      Set:
+      SetDutyCycle:
       SetVoltage:
-      Get:
+      GetDutyCycle:
       SetInverted:
       GetInverted:
       Disable:

wpilibc/src/main/python/semiwrap/MotorControllerGroup.yml

@@ -33,9 +33,9 @@ classes:
         param_override:
           args:
             ignore: true
-      Set:
+      SetDutyCycle:
       SetVoltage:
-      Get:
+      GetDutyCycle:
       SetInverted:
       GetInverted:
       Disable:

wpilibc/src/main/python/semiwrap/PWMMotorController.yml

@@ -8,9 +8,8 @@ classes:
     attributes:
       m_pwm:
     methods:
-      Set:
-      SetVoltage:
-      Get:
+      SetDutyCycle:
+      GetDutyCycle:
       GetVoltage:
       SetInverted:
       GetInverted:
@@ -28,6 +27,6 @@ classes:
             ignore: true
       PWMMotorController:
       InitSendable:
-      SetSpeed:
-      GetSpeed:
+      SetDutyCycleInternal:
+      GetDutyCycleInternal:
       SetBounds:

wpilibc/src/main/python/semiwrap/simulation/PWMMotorControllerSim.yml

@@ -5,4 +5,4 @@ classes:
         overloads:
           const PWMMotorController&:
           int:
-      GetSpeed:
+      GetDutyCycle:

wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.cpp

@@ -17,21 +17,21 @@ void PyMotorControllerGroup::Initialize() {
   wpi::util::SendableRegistry::Add(this, "MotorControllerGroup", instances);
 }
 
-void PyMotorControllerGroup::Set(double speed) {
+void PyMotorControllerGroup::SetDutyCycle(double dutyCycle) {
   for (auto motorController : m_motorControllers) {
-    motorController->Set(m_isInverted ? -speed : speed);
+    motorController->SetDutyCycle(m_isInverted ? -dutyCycle : dutyCycle);
   }
 }
 
-void PyMotorControllerGroup::SetVoltage(wpi::units::volt_t output) {
+void PyMotorControllerGroup::SetVoltage(wpi::units::volt_t voltage) {
   for (auto motorController : m_motorControllers) {
-    motorController->SetVoltage(m_isInverted ? -output : output);
+    motorController->SetVoltage(m_isInverted ? -voltage : voltage);
   }
 }
 
-double PyMotorControllerGroup::Get() const {
+double PyMotorControllerGroup::GetDutyCycle() const {
   if (!m_motorControllers.empty()) {
-    return m_motorControllers.front()->Get() * (m_isInverted ? -1 : 1);
+    return m_motorControllers.front()->GetDutyCycle() * (m_isInverted ? -1 : 1);
   }
   return 0.0;
 }
@@ -51,6 +51,6 @@ void PyMotorControllerGroup::Disable() {
 void PyMotorControllerGroup::InitSendable(wpi::util::SendableBuilder& builder) {
   builder.SetSmartDashboardType("Motor Controller");
   builder.SetActuator(true);
-  builder.AddDoubleProperty("Value", [=, this]() { return Get(); },
-                            [=, this](double value) { Set(value); });
+  builder.AddDoubleProperty("Value", [=, this]() { return GetDutyCycle(); },
+                            [=, this](double value) { SetDutyCycle(value); });
 }

wpilibc/src/main/python/wpilib/src/rpy/MotorControllerGroup.h

@@ -26,9 +26,9 @@ class PyMotorControllerGroup : public wpi::util::Sendable,
   PyMotorControllerGroup(PyMotorControllerGroup&&) = default;
   PyMotorControllerGroup& operator=(PyMotorControllerGroup&&) = default;
 
-  void Set(double speed) override;
-  void SetVoltage(wpi::units::volt_t output) override;
-  double Get() const override;
+  void SetDutyCycle(double dutyCycle) override;
+  void SetVoltage(wpi::units::volt_t voltage) override;
+  double GetDutyCycle() const override;
   void SetInverted(bool isInverted) override;
   bool GetInverted() const override;
   void Disable() override;